通过遇障速度的几何变换产生可达避障速度，从而确定运动路径上潜在的障碍物。
Based on geometrical switch of velocity obstacle, reachable avoidance velocity has been proposed, thereby ensure latency obstacles in the path of movement.
当刚壁速度为零时，这些公式退化成空气冲击波遇固壁相互作用的计算公式。
When the velocity of the rigid wall is zero, these formulas degenerate to that for the interaction of air shock wave with static rigid wall.
除此之外，该系统可以承受一次百年一遇的大浪，承受超过30米的浪高、不高于60%的压力许可值以及小范围的最大加速度。
The system will also withstand a single maximum 100-year wave height of above 30m with stress levels below 60% of permissible and with small maximum accelerations.
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